Novel data-driven path tracking constrained control for intelligent vehicle autonomous overtaking system

被引：2
|
作者：
Xu D.-Z. [1 ]
Deng J. [1 ]
Yan W.-X. [1 ]
Ji Z.-C. [1 ]
机构：
[1] School of Internet of Things Engineering, Jiangnan University, Wuxi, 214122, Jiangsu
来源：
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2018年 / 35卷 / 03期
基金：
中国国家自然科学基金;
关键词：
Data-driven constrained control; Dynamic anti-windup; Intelligent vehicle; Overtaking path;
D O I：
10.7641/CTA.2017.60547
中图分类号：
学科分类号：
摘要：
In this paper, a novel data-driven path tracking constrained control scheme is proposed for intelligent vehicle autonomous overtaking system. The design of the proposed control scheme only depends on the input data and output data of the controlled system, and it does not involve any model information of the car. Therefore, the proposed scheme based autonomous overtaking system is applicable to different kinds of cars. In the design procedure of the controller, a novel dynamic anti-windup compensator is used to deal with the change magnitude and rate saturations of autonomous overtaking control input. Finally, a simulation comparison among the proposed scheme, model free adaptive control (MFAC) and proportion integration differentiation (PID) control algorithm is given. It is shown that the proposed scheme can perfectly achieve the path tracking in the autonomous overtaking process. And the proposed scheme has smaller tracking errors and more rapid responses than model free adaptive control and PID control scheme. © 2018, Editorial Department of Control Theory & Applications South China University of Technology. All right reserved.
引用
收藏
页码：283 / 290
页数：7
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